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<div class="header">
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<div class="title">internal.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_KINFU_INTERNAL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_KINFU_INTERNAL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//#include &lt;pcl/gpu/utils/safe_call.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;safe_call.hpp&quot;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">// Types</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> ushort;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;float&gt; MapArr;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;ushort&gt; DepthMap;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">typedef</span> float4 PointType;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">//TSDF fixed point divisor (if old format is enabled)</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> DIVISOR = 32767;     <span class="comment">// SHRT_MAX;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="comment">//Should be multiple of 32</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">enum</span> { VOLUME_X = 512, VOLUME_Y = 512, VOLUME_Z = 512 };</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> VOLUME_SIZE = 3.0f; <span class="comment">// in meters</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_intr.html">   67</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keywordtype">float</span> fx, fy, cx, cy;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a> () {}</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a> (<span class="keywordtype">float</span> fx_, <span class="keywordtype">float</span> fy_, <span class="keywordtype">float</span> cx_, <span class="keywordtype">float</span> cy_) : fx(fx_), fy(fy_), cx(cx_), cy(cy_) {}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a> operator()(<span class="keywordtype">int</span> level_index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keywordtype">int</span> div = 1 &lt;&lt; level_index; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a> (fx / div, fy / div, cx / div, cy / div));</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_mat33.html">   82</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    {</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      float3 data[3];</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    };</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_light_source.html">   89</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_light_source.html">LightSource</a></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      float3 pos[1];</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">int</span> number;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    };</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// Maps</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    bilateralFilter (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; src, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; dst);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    pyrDown (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; src, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; dst);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    createVMap (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    createNMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    computeNormalsEigen (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    tranformMaps (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_src, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_src, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rmat, <span class="keyword">const</span> float3&amp; tvec, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_dst, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_dst);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    truncateDepth(<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; depth, <span class="keywordtype">float</span> max_distance);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="comment">//   ICP </span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    findCoresp (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_curr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_curr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rprev_inv, <span class="keyword">const</span> float3&amp; tprev, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_prev, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_prev, <span class="keywordtype">float</span> distThres, <span class="keywordtype">float</span> angleThres, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;short2&gt;</a> coresp);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    estimateTransform (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; v_dst, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; n_dst, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; v_src, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;short2&gt;</a>&amp; coresp,</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                       <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; gbuf, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; mbuf, <span class="keywordtype">float</span>* matrixA_host, <span class="keywordtype">float</span>* vectorB_host);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    estimateCombined (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rcurr, <span class="keyword">const</span> float3&amp; tcurr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_curr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_curr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rprev_inv, <span class="keyword">const</span> float3&amp; tprev, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                      <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_prev, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_prev, <span class="keywordtype">float</span> distThres, <span class="keywordtype">float</span> angleThres, </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                      <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; gbuf, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; mbuf, <span class="keywordtype">float</span>* matrixA_host, <span class="keywordtype">float</span>* vectorB_host);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    estimateCombined (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rcurr, <span class="keyword">const</span> float3&amp; tcurr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_curr, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_curr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rprev_inv, <span class="keyword">const</span> float3&amp; tprev, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr,</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                      <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap_g_prev, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap_g_prev, <span class="keywordtype">float</span> distThres, <span class="keywordtype">float</span> angleThres,</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                      <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;double&gt;</a>&amp; gbuf, <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;double&gt;</a>&amp; mbuf, <span class="keywordtype">double</span>* matrixA_host, <span class="keywordtype">double</span>* vectorB_host);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="comment">// TSDF volume functions            </span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    initVolume(<a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> array);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="comment">//first version</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    integrateTsdfVolume (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;ushort&gt;</a>&amp; depth_raw, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> float3&amp; volume_size, </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                         <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rcurr_inv, <span class="keyword">const</span> float3&amp; tcurr, <span class="keywordtype">float</span> tranc_dist, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> volume);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="comment">//second version</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="comment"></span>    PCL_EXPORTS <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    integrateTsdfVolume (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;ushort&gt;</a>&amp; depth_raw, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> float3&amp; volume_size, </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                         <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rcurr_inv, <span class="keyword">const</span> float3&amp; tcurr, <span class="keywordtype">float</span> tranc_dist, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a> volume, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;float&gt;</a>&amp; depthRawScaled);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    initColorVolume(<a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar4&gt;</a> color_volume);    </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    updateColorVolume(<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, <span class="keywordtype">float</span> tranc_dist, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; R_inv, <span class="keyword">const</span> float3&amp; t, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;            <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;uchar3&gt;</a>&amp; colors, <span class="keyword">const</span> float3&amp; volume_size, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar4&gt;</a> color_volume, <span class="keywordtype">int</span> max_weight = 1);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="comment">// Raycast and view generation        </span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="comment"></span>    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    raycast (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; Rcurr, <span class="keyword">const</span> float3&amp; tcurr, <span class="keywordtype">float</span> tranc_dist, <span class="keyword">const</span> float3&amp; volume_size, </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;             <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap);</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    generateImage (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; nmap, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_light_source.html">LightSource</a>&amp; light, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;uchar3&gt;</a> dst);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    generateDepth (<span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_mat33.html">Mat33</a>&amp; R_inv, <span class="keyword">const</span> float3&amp; t, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DepthMap</a>&amp; dst);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    paint3DView(<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar3&gt;</a>&amp; colors, <a class="code" href="structpcl_1_1gpu_1_1_ptr_step_sz.html">PtrStepSz&lt;uchar3&gt;</a> dst, <span class="keywordtype">float</span> colors_weight = 0.5f);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    resizeVMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; input, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; output);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    resizeNMap (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; input, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; output);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="comment">// Cloud extraction </span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    PCL_EXPORTS <span class="keywordtype">size_t</span> </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    extractCloud (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <span class="keyword">const</span> float3&amp; volume_size, <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a> output);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> NormalType&gt; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    extractNormals (<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;short2&gt;</a>&amp; volume, <span class="keyword">const</span> float3&amp; volume_size, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a>&amp; input, NormalType* output);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    exctractColors(<span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">PtrStep&lt;uchar4&gt;</a>&amp; color_volume, <span class="keyword">const</span> float3&amp; volume_size, <span class="keyword">const</span> <a class="code" href="structpcl_1_1gpu_1_1_ptr_sz.html">PtrSz&lt;PointType&gt;</a>&amp; points, uchar4* colors);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="comment">// Utility</span></div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1float8.html">  365</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1float8.html">float8</a>  { <span class="keywordtype">float</span> x, y, z, w, c1, c2, c3, c4; };</div>
<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1float12.html">  366</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1float12.html">float12</a> { <span class="keywordtype">float</span> x, y, z, w, normal_x, normal_y, normal_z, n4, c1, c2, c3, c4; };</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    convert (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&amp; vmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;T&gt;</a>&amp; output);</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    mergePointNormal(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float4&gt;</a>&amp; cloud, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float8&gt;</a>&amp; normals, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float12&gt;</a>&amp; output);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    valid_host (<span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="keywordflow">return</span> *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span>(&amp;value) != 0x7fffffff; <span class="comment">//QNAN</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="keyword">inline</span> </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    sync () { cudaSafeCall (cudaDeviceSynchronize ()); }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> D, <span class="keyword">class</span> Matx&gt; D&amp;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    device_cast (Matx&amp; matx)</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keywordflow">return</span> (*<span class="keyword">reinterpret_cast&lt;</span>D*<span class="keyword">&gt;</span>(matx.data ()));</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    <span class="comment">// Marching cubes implementation</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    bindTextures(<span class="keyword">const</span> <span class="keywordtype">int</span> *edgeBuf, <span class="keyword">const</span> <span class="keywordtype">int</span> *triBuf, <span class="keyword">const</span> <span class="keywordtype">int</span> *numVertsBuf);            </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    unbindTextures();</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keywordtype">int</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;    getOccupiedVoxels(<span class="keyword">const</span> PtrStep&lt;short2&gt;&amp; volume, DeviceArray2D&lt;int&gt;&amp; occupied_voxels);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    <span class="keywordtype">int</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    computeOffsetsAndTotalVertexes(DeviceArray2D&lt;int&gt;&amp; occupied_voxels);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="keywordtype">void</span></div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    generateTriangles(<span class="keyword">const</span> PtrStep&lt;short2&gt;&amp; volume, <span class="keyword">const</span> DeviceArray2D&lt;int&gt;&amp; occupied_voxels, <span class="keyword">const</span> float3&amp; volume_size, DeviceArray&lt;PointType&gt;&amp; output);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  }</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;}</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_KINFU_INTERNAL_HPP_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a></div><div class="ttdoc">DeviceArray class</div><div class="ttdef"><b>Definition:</b> device_array.h:58</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_intr_html"><div class="ttname"><a href="structpcl_1_1device_1_1_intr.html">pcl::device::Intr</a></div><div class="ttdoc">Camera intrinsics structure</div><div class="ttdef"><b>Definition:</b> internal.h:68</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_light_source_html"><div class="ttname"><a href="structpcl_1_1device_1_1_light_source.html">pcl::device::LightSource</a></div><div class="ttdoc">Light source collection</div><div class="ttdef"><b>Definition:</b> internal.h:90</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_mat33_html"><div class="ttname"><a href="structpcl_1_1device_1_1_mat33.html">pcl::device::Mat33</a></div><div class="ttdoc">3x3 Matrix for device code</div><div class="ttdef"><b>Definition:</b> internal.h:83</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1float12_html"><div class="ttname"><a href="structpcl_1_1device_1_1float12.html">pcl::device::float12</a></div><div class="ttdef"><b>Definition:</b> internal.h:366</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1float8_html"><div class="ttname"><a href="structpcl_1_1device_1_1float8.html">pcl::device::float8</a></div><div class="ttdef"><b>Definition:</b> internal.h:365</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:78</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_sz_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step_sz.html">pcl::gpu::PtrStepSz</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:93</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_sz_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_sz.html">pcl::gpu::PtrSz</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:70</div></div>
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